The motion of the robot in the x-axis is controlled by a discrete dRL SAC agent [1]}, [2]}. A four-dimensional state space comprises the position \((x_{ee},y_{ee})\)  and the velocity \((\dot{x}_{ee}, \dot{y}_{ee})\)  of the cobot's EE:
\(s=(x_{ee},y_{ee},\dot{x}_{ee},\dot{y}_{ee})\) 
